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Data Sampling & Nyquist Theorem Richa Sharma Dept. of Physics And Astrophysics University of Delhi Signal : Any physical quantity that varies with time, space, or any other independent variable or variables. Classification of Signals : Continuous -Time Signals Discrete -Time Signals Continuous -Valued Signals Discrete- Valued Signals Continuous -Time Signals : defined for every value of time take on values in continuous interval (a , b),where a can be -∞ and b can be ∞. can be described by functions of a continuous variables Discrete -Time Signals : defined only at certain specific values of time time instants need not be equidistant, but in practice they are usually taken at equally spaced intervals The values of a continuous-time or discrete-time signal can be continuous or discrete. Continuous-Valued Signals : If a signal takes on all possible values on a finite or an infinite range it is said to be continuous-valued signals. Discrete-Valued Signals : If a signal takes on values from a finite set of possible values ,it is said to be a discrete-valued signals. Signal Processing : It is an area that deals with operations on or analysis of signals, in either discrete or continuous time. Signals of interest can include sounds, images, time-varying measurement values and sensor data. Processing of signals includes the following operations : Filtering Smoothing Modulation Digitization A variety of other operations Categories of signal processing : Analog Signal Processing: Most signals of practical interest ,such as speech,biological signals,seismic signals,radar signals and various communication signals such as video and audio signals ,are analog. Such signals may be processed directly by appropriate analog systems(such as filters) for the purpose of changing their characteristics or extracting the desired information. In such case signal has been processed directly in its analog form. Digital Signal Processing: In this an analog signal is first converted into the digital signal and then processed to extract the desired information. Advantages of Digital over Analog Signal Processing Digital system can be simply reprogrammed for other applications/ported to different hardware / duplicated Reconfiguring analog system means hardware redesign, testing, verification DSP provides better control of accuracy requirements Analog system depends on strict components tolerance, response may drift with temperature Digital signals can be easily stored without deterioration Analog signals are not easily transportable and often can’t be processed offline More sophisticated signal processing algorithms can be implemented Difficult to perform precise mathematical operations in analog form Analog-to Digital Conversion : Most signal of practical interest, such as speech biological signals seismic signals radar signals & sonar signals various communication signals are analog To process analog signals by digital means into digital form Conversion from analog Analog-to-Digital (A/D) conversion Digital Signal Processing : For a signal to be processed digitally, it must be discrete in time Its values must be discrete Block diagram of a digital signal processing system Analog input signal Digital signal processor A/D Converter Digital input signal Digital output signal D/A converter Analog output signal A/D conversion is a three-step process : Step 1 : Sampling Step 2: Quantization Step 3: Coding xa(t) x(n) Sampler Analog signal xq(n) Quantizer Discrete-time signal 0110…. Coder Quantized signal Digital signal Step 1 : Sampling of Analog signal Conversion of continuous-time signal into a discrete-time signal by taking samples of continuous-time signal at discrete time instants. A continuous time sinusoidal signal is : xa(t) = Acos(Ωt + θ) , -∞ < t < ∞ Where, xa(t) : an analog signal A : is amplitude of the sinusoid Ω :is frequency in radians per seconds(rad/s) θ : is the phase in radians Ω = 2πF (1) A discrete-time sinusoidal signal obtained by taking samples of the analog signal xa(t) every T seconds may be expressed as x(n) = xa(nT) = Acos(ωn + θ) , -∞ < n < ∞ (2) Where, n : an integer variable, called sample number A : is amplitude of the sinusoid ω : frequency radians per sample θ : is the phase in radians ω = 2πf f : frequency cycles per samples T is the sampling interval or sampling period 1 Fs = is called the sampling rate or the sampling frequency Hertz) T Relationship b/w frequency of analog and digital signal is 𝐅 f= 𝐅𝐬 Range of frequency variables -∞ < F < ∞ -1/2 < f < ½ Frequency of the continuous-time sinusoid when sampled at rate Fs must fall in the range 𝑭𝒔 𝑭𝒔 ≤F≤ 𝟐 𝟐 1 The highest frequency in the discrete signal is f = , 2 With a sampling rate Fs , the corresponding highest value of F is 𝐹𝑠 Fmax = 2 Sampling introduces an ambiguity Limitations of DSP – Aliasing Most signals are analog in nature, and have to be sampled loss of information we only take samples of the signals at intervals and don’t know what happens in between aliasing cannot distinguish between higher and lower frequencies Sampling theorem: to avoid aliasing, sampling rate must be at least twice the maximum frequency component (`bandwidth’) of the signal Sampling Theorem : To avoid ambiguities resulting from aliasing be sufficiently high sampling rate needs to Fs >2Fmax Fmax is the largest frequency component in the analog signal. If the highest frequency contained in the analog signal xa(t) is Fmax = B and signal is sampled at a rate Fs >2Fmax Then xa(t) can be exactly recovered from its sample values The sampling rate FN= 2B = Fmax is called Nyquist Rate Step 2 : Quantization Conversion of a discrete-time continuous valued signal into a discrete-time, discrete-valued (digital) signal by expressing each sample value as a finite number of digits is called quantization. It is basically an approximation process. Accomplished by rounding or truncating Quantization Error :Difference between the quantized value and the actual value eq(n) = xq(n) – x(n) Where , xq(n) denote sequence of quantized samples at the output of the quantizer Quantization levels : The values allowed in the digital signal are called quantization levels. Quantization step size : The distance between two successive quantization levels is called the Quantization step size or resolution. Dented by ∆. The quantizer error eq(n) is limited to the range - ∆ 𝟐 ≤ eq(n) ≤ ∆ 𝟐 If xmax and xmin represents the maximum and minimum values of x(n) L is the number of quantization levels ∆= 𝒙𝒎𝒂𝒙−𝒙𝒎𝒊𝒏 𝑳−𝟏 Step 3 : Coding of the quantized samples The coding process in A/D converter assign a unique binary number to each quantization level. In this process, each discrete value xq(n) is represented by bbit binary sequence. For L number of quantization levels we need L different binary numbers. With a word length of b bits 2b numbers Hence 2b ≥ L or b ≥ log2L different binary Applications : communication systems modulation/demodulation, channel equalization, echo cancellation consumer electronics perceptual coding of audio and video on DVDs, speech synthesis, speech recognition music synthetic instruments, audio effects, noise reduction medical diagnostics magnetic-resonance and ultrasonic imaging, computer tomography, ECG, EEG, MEG, AED, audiology geophysics seismology, oil exploration astronomy VLBI, speckle interferometry experimental physics sensor-data evaluation aviation radar, radio navigation security steganography, digital watermarking, biometric identification, surveillance systems, signals intelligence, electronic warfare engineering control systems, feature extraction for pattern recognition Thank You